added new data-structures

added new test-cases
added flexible dijkstra calculation
added debugging log
modified: plotting, grid-generation, grid-importance,
refactoring

math/MiniMat2.h

@@ -0,0 +1,36 @@
+#ifndef MINIMAT2_H
+#define MINIMAT2_H
+
+/**
+ * very simple 2x2 matrix
+ */
+struct MiniMat2 {
+
+	/** store eigenvalues */
+	struct EV {float e1,e2;};
+
+	/** data */
+	float a,b,c,d;
+
+	/** ctor */
+	MiniMat2() : a(0), b(0), c(0), d(0) {;}
+
+	/** get the matrix' eigenvalues */
+	EV getEigenvalues() const {
+		const float T = a+d;
+		const float D = a*d - b*c;
+		EV res;
+		res.e1 = T/2 + std::sqrt(T*T/4-D);
+		res.e2 = T/2 - std::sqrt(T*T/4-D);
+		return res;
+	}
+
+	/** add (x,y) * (x,y)T to the matrix */
+	void addSquared(const float x, const float y) {
+		a += (x*x);	b += (x*y);
+		c += (x*y);	d += (y*y);
+	}
+
+};
+
+#endif // MINIMAT2_H